JP7849902B2 - Workpiece inversion device and workpiece transfer system - Google Patents

Description

This disclosure relates to a workpiece reversing device and a workpiece transport system.

Patent Document 1 discloses a reversing unit for the purpose of high-speed reversal of a workpiece. Specifically, the reversing unit of Patent Document 1 comprises a reversible rotatable head, which includes a workpiece storage member having a workpiece placement hole (through hole), and a first finger and a second finger that are slidable on the upper and lower surfaces, respectively, of the workpiece storage member. The first and second fingers are movable to a position covering the workpiece placement hole (forward position) and a position opening it (rear position). To reverse the workpiece, the head is rotated in a reversible manner with the workpiece placed in the workpiece placement hole and the workpiece placement hole covered by the first and second fingers.

Japanese Patent Publication No. 2006-306516

In the reversing unit described in Patent Document 1, the supply device, such as a PPU (Pick and Place Unit), must, after inserting the workpiece into the workpiece placement hole, retract (retract) to an upper position that does not interfere with the reversing head, wait in the upper position until the head's reversing rotation is complete, and then retrieve the reversed workpiece from the workpiece placement hole.

Because this series of processing operations—from workpiece insertion to workpiece retrieval—is required for each workpiece, the cycle time tends to be long, making it difficult to shorten the operation cycle. Furthermore, the supply device must remain in the position for storing and retrieving the workpiece from the workpiece placement hole until the head's reversal operation is complete, and cannot move to the next position. This workpiece reversal process can become a bottleneck, hindering the acceleration of processing before and after the reversal.

Furthermore, since each finger moves while sliding against the workpiece storage member, depending on the characteristics of the workpiece, it may not be desirable to perform the reversal process using the reversal unit described in Patent Document 1. For example, for fragile workpieces such as ferrite materials, workpieces that are sensitive to surface scratches (e.g., products containing LEDs), and workpieces where cracks affect quality (e.g., capacitors), it may be undesirable for each finger to slide on the workpiece storage member.

This disclosure provides a technique advantageous for inverting a workpiece.

One aspect of the present disclosure is a workpiece reversing device comprising a first reversing relay device and a second reversing relay device, wherein the first reversing relay device comprises a first relay rotating section and a plurality of first relay workpiece suction sections supported by the first relay rotating section and rotating together with the first relay rotating section about a first relay rotation axis, and each of the plurality of first relay workpiece suction sections capable of suctioning a workpiece, and the second reversing relay device comprises a second relay rotating section and a plurality of second relay workpiece suction sections supported by the second relay rotating section and rotating together with the second relay rotating section about a second relay rotation axis, and each of the plurality of second relay workpiece suction sections capable of suctioning a workpiece, and the first relay workpiece suction section This invention relates to a workpiece reversing device in which a workpiece is transferred from the first relay workpiece suction unit at the first transfer position to the second relay workpiece suction unit at the second transfer position, so that the workpiece transitions from a state where the front surface of the workpiece is held by the first relay workpiece suction unit to a state where the back surface of the workpiece is held by the second relay workpiece suction unit at the second transfer position.

The orientation of the first relay workpiece suction unit at the first transfer position may be 90 degrees to the orientation of the first relay workpiece suction unit at the relay receiving position; the orientation of the second relay workpiece suction unit at the second transfer position may be 90 degrees to the orientation of the first relay workpiece suction unit at the relay handover position; the first relay rotation axis may be 45 degrees to both the orientation of the first relay workpiece suction unit at the relay receiving position and the orientation of the first relay workpiece suction unit at the first transfer position; and the second relay rotation axis may be 45 degrees to both the orientation of the second relay workpiece suction unit at the relay handover position and the orientation of the second relay workpiece suction unit at the second transfer position.

The number of first intermediate workpiece suction units is two, and the orientation of one of these two first intermediate workpiece suction units may be at a 90-degree angle to the orientation of the other.

The number of the multiple second relay workpiece suction parts is two, and the orientation of one of the two second relay workpiece suction parts may be at a 90-degree angle to the orientation of the other.

Another aspect of this disclosure relates to a workpiece transfer system comprising the above-described workpiece reversing device, a workpiece support unit capable of supporting a workpiece, and a workpiece support moving unit for moving the workpiece support unit along a workpiece transfer track, wherein the workpiece transfer track is curved in at least a portion thereof and includes a workpiece handover position and a workpiece receiving position, and the workpiece support unit hands over a workpiece to a first relay workpiece suction unit located at the relay receiving position at the workpiece handover position, and receives a workpiece from a second relay workpiece suction unit located at the relay handover position at the workpiece receiving position.

The workpiece transfer device moves the workpiece support section from the workpiece handover position to the workpiece receiving position along an arc-shaped trajectory. The first and second intermediate transfer trajectories may be symmetrical with respect to a virtual plane that passes through the center point between the workpiece handover position and the workpiece receiving position, and that includes the diameter of the arc.

The workpiece transfer system includes a control device that controls the workpiece reversal device and the workpiece transfer device. The control device may lower the workpiece support unit to transfer the workpiece from the workpiece transfer position to the first relay workpiece suction unit at the relay receiving position, positioning the workpiece support unit at the workpiece transfer position relative to the first relay workpiece suction unit at the relay receiving position. After transferring the workpiece to the first relay workpiece suction unit, the workpiece support unit may be raised. After transferring the workpiece to the first relay workpiece suction unit, the workpiece support unit at the workpiece transfer position may be moved to the workpiece receiving position. After moving the workpiece support unit from the workpiece transfer position, the workpiece support unit may be lowered to transfer the workpiece from the second relay workpiece suction unit at the relay transfer position to the workpiece support unit at the workpiece receiving position, positioning the workpiece support unit at the workpiece receiving position relative to the second relay workpiece support unit at the relay transfer position. After the workpiece has been transferred from the second relay workpiece suction unit to the workpiece support unit, the workpiece support unit may be raised.

According to this disclosure, it is advantageous for inverting the workpiece.

Figure 1 is an overall plan view showing a schematic configuration of an example of a workpiece transport system. Figure 2 is a side view showing a schematic configuration of an example of a workpiece transport system. Figure 3 is a plan view of the main components of an example of a workpiece transport system. Figure 4 is a plan view showing an enlarged portion of the workpiece transport system shown in Figure 3. Figure 5 is a side view showing an enlarged portion of the workpiece transport system shown in Figure 3. Figure 6 is a perspective view of the workpiece reversing device shown in Figures 3 to 5. Figure 7 is a functional block diagram showing an example of the control configuration of a workpiece transport system. Figure 8 is a flowchart illustrating an example of a workpiece transport method (inversion method), focusing on a single workpiece support section. Figure 9 is a flowchart illustrating an example of a workpiece transport method (inversion method), focusing on a single workpiece. Figure 10 is a flowchart illustrating an example of a workpiece transport method (inversion method), focusing on the first inversion relay device. Figure 11 is a flowchart illustrating an example of a workpiece transport method (reversal method), focusing on the second reversal relay device. Figure 12 is a plan view showing an enlarged view of the first modified example of the workpiece transport system. Figure 13 is a side view showing an enlarged portion of the workpiece transport system shown in Figure 12. Figure 14 is a perspective view of the workpiece reversing device shown in Figures 12 and 13.

Figure 1 is an overall plan view showing a schematic configuration of an example of the workpiece transport system 10. Figure 2 is a side view showing a schematic configuration of an example of the workpiece transport system 10.

First, the entire electronic component (hereinafter referred to as "workpiece") transport system incorporating a workpiece orientation correction device will be explained using Figures 1 and 2. Here, the workpiece transport system 10 transports electronic components (hereinafter also referred to as "workpieces") W, such as semiconductor elements, while performing visual inspection, electrical characteristic inspection, optical characteristic inspection, and marking processing on the workpiece W.

The workpiece transport system 10 has a workpiece transport track Tw for the workpieces W. The workpieces W are aligned and transported along the workpiece transport track Tw, and various process operations, such as visual inspection, electrical characteristic inspection, and marking, are sequentially performed on the workpieces W on the workpiece transport track Tw. A supply unit 15 is provided at the beginning of the workpiece transport track Tw to supply the workpieces W via a supply path 17, and a storage unit 16 is provided at the end of the workpiece transport track Tw to discharge and store the workpieces W. Various processing units U1, U2, U3, U4… are installed on the workpiece transport track Tw between these units to perform various processes on the workpieces W. Examples of such processing units U1, U2, U3, U4… include a visual inspection unit, an electrical characteristic inspection unit, an additional inspection unit, and a marking processing unit.

The electronic components constituting workpiece W are components used in electrical products. Examples of electronic components include semiconductor elements and non-semiconductor elements such as resistor chips and capacitors. Examples of semiconductor elements include discrete semiconductors such as inductors, transistors, diodes, LEDs, capacitors, and thyristors, and integrated circuits such as ICs and LSIs. Of these, capacitors, etc., may not be included in this embodiment because they do not have a distinguishable front or back side. The workpieces targeted in this embodiment are those that require a distinguishable front or back side, such as resistor chips, LEDs, and inductors.

Furthermore, as shown in Figures 1 and 2, the workpiece transfer track Tw is formed on the outer circumference of the workpiece support movement unit 22, which rotates intermittently at predetermined angles. A workpiece support unit 21, which is a means for holding the workpiece W, is supported on the outer circumference of the workpiece support movement unit 22. By intermittently rotating the workpiece support movement unit 22 while holding the workpiece W with the workpiece support unit 21, the workpiece W moves along the outer circumference of the workpiece support movement unit 22 (see Figures 1 and 2).

In reality, the workpiece support and movement unit 22 has a shape such as a disc or star, which radiates outward from a single point, as shown in Figures 1 and 2. The center 22a of this workpiece support and movement unit 22 (see transport rotation axis Ax0) is pivotally supported by the rotation axis of the transport drive mechanism 18. Multiple workpiece support units 21 are provided around the outer circumference of the workpiece support and movement unit 22 at equal intervals along the circumferential direction, and at the same radial distance from the center 22a of the workpiece support and movement unit 22.

Furthermore, each workpiece support section 21 is hollow inside and has an open end. The interior of each workpiece support section 21 is connected to the pneumatic circuit of a negative pressure generating device such as a vacuum pump or ejector. Each workpiece support section 21 generates negative pressure in the pneumatic circuit, thereby attracting the workpiece W at its open end, causing vacuum breakage or release to the atmosphere in the pneumatic circuit, and releasing the workpiece W.

In this embodiment, the workpiece support unit 21 is attached to the workpiece support moving unit 22 via a workpiece support drive unit 61. The workpiece support unit 21, held by the workpiece support drive unit 61, is driven vertically relative to the workpiece support moving unit 22.

Furthermore, the transport drive mechanism 18 of the workpiece support movement unit 22 is controlled by the control device 13 to rotate intermittently in one-pitch increments. The rotation pitch of the workpiece support movement unit 22 is equal to the spacing between the workpiece support units 21, and the workpiece support units 21 move and stop along the workpiece transport track Tw.

Furthermore, as shown in Figure 1, various processing units, such as a visual inspection unit, an electrical characteristics inspection unit, an additional inspection unit, and a marking processing unit, are arranged on the workpiece transfer track Tw formed on the outer circumference of the workpiece support and movement unit 22. Of these, the visual inspection unit performs a visual inspection on the workpiece W.

Furthermore, the electrical characteristics inspection unit inspects the resistance and other electrical characteristics of the workpiece W, while the additional inspection unit performs other additional inspections on the workpiece W, such as optical characteristics inspection. The marking unit also performs marking on the workpiece W.

Furthermore, as shown in Figure 1, upstream of each processing unit U1, U2, U3, U4… in the workpiece transfer track Tw, a workpiece front/back orientation inspection device 14 for detecting the front/back orientation of the workpiece W held by the workpiece support unit 21 of the workpiece support movement unit 22, and a workpiece reversal device 12 for reversing the front/back orientation of the workpiece W are sequentially arranged.

In this embodiment, the front/back orientation of the workpiece W is detected by the workpiece front/back inspection device 14. The detected front/back orientation of the workpiece W is sent to the control device 13. If the control device 13 determines that the front/back orientation of the workpiece W should be reversed, the workpiece reversal device 12 can reverse the front/back orientation of the workpiece W based on a signal from the control device 13. In this embodiment, after the front/back orientation of the workpiece W is detected by the workpiece front/back inspection device 14, the workpiece reversal device 12 reverses the front/back orientation of the workpiece W as needed. However, if all of the workpiece W supplied from the supply unit 15 to the workpiece support unit 21 via the supply path 17 needs to be reversed, the workpiece front/back inspection device 14 is not necessarily required; all workpiece W may be reversed by the workpiece reversal device 12.

Next, a specific example of the workpiece W inversion process in this embodiment will be described in detail.

Figure 3 is a plan view of the main part of an example of the workpiece transfer system 10. Figure 4 is an enlarged plan view showing a part of the workpiece transfer system 10 shown in Figure 3. Figure 5 is an enlarged side view showing a part of the workpiece transfer system 10 shown in Figure 3. Figure 6 is a perspective view of the workpiece reversing device 12 shown in Figures 3 to 5. Figure 7 is a functional block diagram showing an example of the control configuration of the workpiece transfer system 10.

The workpiece transfer system 10 comprises a workpiece transfer device 11, a workpiece reversal device 12, and a control device 13, as described above.

The workpiece transfer device 11 has a plurality of workpiece support sections 21 capable of supporting a workpiece W, and a workpiece support moving section 22 that holds the plurality of workpiece support sections 21 and moves each workpiece support section 21 along the workpiece transfer track Tw. Figures 3 and 5 show only some (four) of the workpiece support sections 21, omitting the other workpiece support sections 21. Figure 4 omits the illustration of the workpiece support sections 21.

The workpiece support and movement unit 22 is provided as a disc-shaped spindle rotation turret and rotates intermittently around the transport rotation axis Ax0 (central axis). The transport rotation axis Ax0 extends along the height direction, passing through the center of the workpiece support and movement unit 22, which has a roughly circular planar shape.

Multiple workpiece support units 21 are attached to the outer circumference of the workpiece support movement unit 22 at equal intervals (equal angular intervals) in the circumferential direction, and are positioned on the workpiece support movement unit 22 at equally divided locations with a constant PCD (Pitch Circle Diameter). Each workpiece support unit 21 in this example is configured as a suction nozzle capable of vacuum-suctioning the workpiece W at its suction surface (lower surface), and is provided to be able to move back and forth in the extending direction (i.e., the height direction) of the transport rotation axis Ax0.

The workpiece transfer track Tw is curved in at least part of its shape. In this example, the workpiece transfer track Tw is generally circular, centered on the transfer rotation axis Ax0, and includes the workpiece handover position Pt and the workpiece receiving position Pr. Therefore, the workpiece transfer device 11 intermittently moves each workpiece support 21 from the workpiece handover position Pt to the workpiece receiving position Pr along the arc-shaped track.

Each workpiece support unit 21 transfers the workpiece W to the first relay workpiece suction unit 31 located at the relay receiving position Qr, at the workpiece transfer position Pt. Furthermore, each workpiece support unit 21 receives the workpiece W from the second relay workpiece suction unit 41 located at the relay transfer position Qt, at the workpiece receiving position Pr.

Multiple work support drive units 61, each assigned to a work support unit 21, are mounted on the outer periphery of the work support movement unit 22 at equal intervals (equal angular intervals) in the circumferential direction. These work support drive units 61 are positioned on the work support movement unit 22 at equally divided locations with a constant PCD (Pitch Circle Diameter). Each work support drive unit 61 can move the associated work support unit 21 vertically (height direction), positioning the suction surface of the work support unit 21 at high support and low support positions. The high support position is a relatively high position and is the standard height position for the suction surface of each work support unit 21. The low support position is a relatively low position (i.e., lower than the high support position) and is the height position for transferring and receiving workpieces W between the work inversion device 12 (particularly the first relay work suction unit 31 and the second relay work suction unit 41), as described later.

The workpiece reversal device 12 is provided across at least the workpiece handover position Pt and the next intermittent stop position, the workpiece receiving position Pr, and comprises a plurality of reversal relay devices (first reversal relay device 30 and second reversal relay device 40).

The first reversing relay device 30 includes a first relay rotating section 32 and a plurality (four in this example) of first relay workpiece suction sections 31 supported by the first relay rotating section 32.

The first relay rotating section 32 rotates intermittently around the first relay rotating axis Ax1. The first relay rotating axis Ax1 extends along an oblique direction (particularly a 45-degree oblique direction in this embodiment) that is inclined with respect to the horizontal and vertical directions (conveying rotating axis Ax0).

Multiple first intermediate workpiece suction units 31 are mounted at equal intervals (equal angular intervals) in the circumferential direction on the outer circumference of the first intermediate rotating unit 32, and are positioned at equally divided locations on the first intermediate rotating unit 32 with a constant PCD (Pitch Circle Diameter). Each first intermediate workpiece suction unit 31 is configured as a suction nozzle capable of vacuum-suctioning a workpiece W on its suction surface, and moves to rotate together with the first intermediate rotating unit 32 around the first intermediate rotating axis Ax1.

Similarly, the second reversing relay device 40 has a second relay rotating section 42 and a plurality (four in this example) of second relay workpiece suction sections 41 supported by the second relay rotating section 42. The second relay rotating section 42 rotates intermittently around the second relay rotation axis Ax2. The second relay rotation axis Ax2 extends along an oblique direction (particularly an oblique direction forming a 45-degree angle in this embodiment) that is inclined with respect to the horizontal and height directions (transport rotation axis Ax0). The plurality of second relay workpiece suction sections 41 are mounted at equal intervals (equal angular intervals) in the circumferential direction on the outer circumference of the second relay rotating section 42 and are positioned at positions that are equally divided by a constant PCD (Pitch Circle Diameter) on the second relay rotating section 42. Each second relay workpiece suction section 41 is configured as a suction nozzle capable of vacuum-suctioning a workpiece W on its suction surface and moves to rotate together with the second relay rotating section 42 around the second relay rotation axis Ax2.

Each first relay workpiece suction unit 31 moves intermittently along a circular first relay movement trajectory Tq1 (see Figure 6) that includes the relay receiving position Qr and the first transfer position Q1, and stops intermittently and sequentially at stopping positions (four stopping positions in this example) that include the relay receiving position Qr and the first transfer position Q1. In the first relay movement trajectory Tq1 in this example, the relay receiving position Qr is the uppermost position, and the first transfer position Q1 is the lowermost position. In particular, the relay receiving position Qr is located directly below the workpiece handover position Pt where the workpiece W is handed over from each workpiece support unit 21. Therefore, the workpiece support unit 21 located at the workpiece handover position Pt (especially the downward-facing suction surface) and the first relay workpiece suction unit 31 located at the relay receiving position Qr (especially the upward-facing suction surface) face each other in the height direction.

Furthermore, each second relay workpiece suction unit 41 moves along a circular second relay movement trajectory Tq2 that includes the relay handover position Qt and the second transfer position Q2, and intermittently stops sequentially at stopping positions (four stopping positions in this example) that include the relay handover position Qt and the second transfer position Q2. In the second relay movement trajectory Tq2 in this example, the relay handover position Qt is the uppermost position, and the second transfer position Q2 is the lowermost position. In particular, the relay handover position Qt is located directly below the workpiece receiving position Pr, where the workpiece W is handed over to each workpiece support unit 21. Therefore, the workpiece support unit 21 located at the workpiece receiving position Pr (especially the downward-facing suction surface) and the second relay workpiece suction unit 41 located at the relay handover position Qt (especially the upward-facing suction surface) face each other in the height direction.

The first relay transfer track Tq1 and the second relay transfer track Tq2 are symmetrical (particularly line-symmetrical (mirror-symmetrical)) with respect to a virtual plane Vs (see Figure 4) that passes through the center point P0 (see Figure 4) between the workpiece handover position Pt and the workpiece receiving position Pr in the workpiece transfer track Tw, and that contains the diameter of the arc of the workpiece transfer track Tw.

The first relay rotation axis Ax1 forms a 45-degree angle with respect to the orientation of the first relay workpiece suction unit 31 (especially the suction surface) at the relay receiving position Qr and the orientation of the first relay workpiece suction unit 31 (especially the suction surface) at the first transfer position Q1. The orientation of the first relay workpiece suction unit 31 at the first transfer position Q1 (lateral orientation along the horizontal direction) forms a 90-degree angle with respect to the orientation of the first relay workpiece suction unit 31 at the relay receiving position Qr (upward orientation along the height direction). Therefore, the orientation and posture of the workpiece W supported by each first relay workpiece suction unit 31 gradually change as each first relay workpiece suction unit 31 moves along the first relay movement trajectory Tq1, so that a workpiece W that is in a lateral posture at the relay receiving position Qr is in an upright posture at the first transfer position Q1.

The second relay rotation axis Ax2 forms a 45-degree angle with respect to the orientation of the second relay workpiece suction unit 41 (especially the suction surface) at the relay handover position Qt and the orientation of the second relay workpiece suction unit 41 (especially the suction surface) at the second transfer position Q2. The orientation of the second relay workpiece suction unit 41 at the second transfer position Q2 (lateral orientation along the horizontal direction) forms a 90-degree angle with respect to the orientation of the second relay workpiece suction unit 41 at the relay handover position Qt (upward orientation along the height direction). Therefore, the orientation and posture of the workpiece W supported by each second relay workpiece suction unit 41 gradually change as each second relay workpiece suction unit 41 moves along the second relay movement trajectory Tq2, and a workpiece W that is upright at the second transfer position Q2 will be lying down at the relay handover position Qt.

The first intermediate workpiece suction unit 31 (particularly its suction surface) at the first transfer position Q1 is positioned to face the second intermediate workpiece suction unit 41 (particularly its suction surface) at the second transfer position Q2. The workpiece W is then transferred from the first intermediate workpiece suction unit 31 at the first transfer position Q1 to the second intermediate workpiece suction unit 41 at the second transfer position Q2, transitioning from a state where the surface Wf of the workpiece W is held by the first intermediate workpiece suction unit 31 to a state where the back surface Wr of the workpiece W is held by the second intermediate workpiece suction unit 41.

In other words, one or both of the first relay workpiece suction unit 31 and the second relay workpiece suction unit 41 are provided to move back and forth so as to have a variable protrusion amount from the relay rotating units 32 and 42, by a relay transfer drive unit (see Figure 7). The relay transfer drive unit drives the relay workpiece suction units 31 and 41 so that one of the first relay workpiece suction unit 31, located at the first transfer position Q1, and the second relay workpiece suction unit 41, located at the second transfer position Q2, is brought relatively closer to the other, thereby transferring the workpiece from the first relay workpiece suction unit 31 to the second relay workpiece suction unit 41.

The control device 13 controls the workpiece transfer device 11 and the workpiece reversal device 12. As shown in Figure 7, the control device 13 in this embodiment controls the driving of, for example, the workpiece transfer drive unit 60, the workpiece support drive unit 61, and the transfer suction drive unit 62 within the workpiece transfer device 11.

The workpiece transfer drive unit 60, under the control of the control device 13, intermittently rotates the workpiece support movement unit 22, thereby intermittently moving the multiple first relay workpiece suction units 31 along the workpiece transfer trajectory Tw.

The workpiece support drive unit 61, under the control of the control device 13, drives the workpiece support unit 21 to move it up and down, thereby changing the position of the suction surface in the height direction (the high support position and low support position described above).

The transfer and suction drive unit 62 changes the support force (suction force) of the workpiece W by the workpiece support unit 21 under the control of the control device 13. The transfer and suction drive unit 62 can change the support force (suction force) at a desired timing for each workpiece support unit 21. Specifically, when supporting the workpiece W and while supporting it, the transfer and suction drive unit 62 exerts a support force on the suction surface of the workpiece support unit 21 sufficient to support the workpiece W. On the other hand, when releasing the workpiece W (for example, when handing the workpiece W to the workpiece reversing device 12), the transfer and suction drive unit 62 exerts a support force on the suction surface of the workpiece support unit 21 sufficient to release the workpiece W. Here, "exerting a support force on the suction surface of the workpiece support unit 21 sufficient to release the workpiece W" includes cases where the force of the suction surface adsorbing the workpiece W is "0 (zero)," and cases where a force acting away from the suction surface (negative support force) acts on the workpiece W from the suction surface.

The workpiece support section 21 of this embodiment is configured to support the workpiece W by vacuum suction, and a vacuum passage opens at the suction surface of the workpiece support section 21. The transfer suction drive unit 62 can adjust the air pressure (vacuum level) of the vacuum passages assigned to the suction surface of each workpiece support section 21, and may include, for example, valves or other airflow adjustment devices. The multiple vacuum passages assigned to each of the suction surfaces of the multiple workpiece support sections 21 may be provided independently of each other, or two or more vacuum passages may be provided so that they are common in part (upstream portion).

Furthermore, the control device 13 of this embodiment controls the driving of, for example, the first relay rotation drive unit 71, the second relay rotation drive unit 72, the first relay suction drive unit 73, the second relay suction drive unit 74, and the relay transfer drive unit 75 of the workpiece reversal device 12.

The first relay rotation drive unit 71 intermittently rotates the first relay rotation unit 32 under the control of the control device 13, thereby intermittently moving the first relay workpiece suction unit 31. The second relay rotation drive unit 72 intermittently rotates the second relay rotation unit 42 under the control of the control device 13, thereby intermittently moving the second relay workpiece suction unit 41.

The first relay suction drive unit 73 changes the support force (suction force) of the workpiece W by the first relay workpiece suction unit 31 under the control of the control device 13. The second relay suction drive unit 74 changes the support force (suction force) of the workpiece W by the second relay workpiece suction unit 41 under the control of the control device 13. In this embodiment, the first relay workpiece suction unit 31 and the second relay workpiece suction unit 41 are configured to support the workpiece W by vacuum suction, and vacuum passages open at the suction surfaces of the first and second relay workpiece suction units 31 and 41. The first and second relay suction drive units 73 and 74 can adjust the air pressure at a desired timing for each vacuum passage, thereby changing the support force (suction force) for each of the first and second relay workpiece suction units 31 and 41 at a desired timing.

Specifically, the first relay suction drive unit 73 exerts a support force on the suction surface of the first relay workpiece suction unit 31 sufficient to support the workpiece W when supporting it and while supporting it, and exerts a support force on the suction surface of the first relay workpiece suction unit 31 sufficient to release the workpiece W when releasing it (for example, when transferring the workpiece W to the second relay workpiece suction unit 41). The second relay suction drive unit 74 exerts a support force on the suction surface of the second relay workpiece suction unit 41 sufficient to support the workpiece W when supporting it and while supporting it, and exerts a support force on the suction surface of the second relay workpiece suction unit 41 sufficient to release the workpiece W when releasing it (for example, when transferring the workpiece W to the workpiece support unit 21 (workpiece transfer device 11)).

The relay transfer drive unit 75 can move one or both of the first relay workpiece suction unit 31 and the second relay workpiece suction unit 41 forward or backward. In particular, the relay transfer drive unit 75 of this embodiment can adjust the relative position between the first relay workpiece suction unit 31, positioned at the first transfer position Q1, and the second relay workpiece suction unit 41, positioned at the second transfer position Q2, to a close-proximity position and a distance-separation position. That is, with the first relay workpiece suction unit 31 and the second relay workpiece suction unit 41 positioned at the first transfer position Q1 and the second transfer position Q2, the relay transfer drive unit 75 moves the first relay workpiece suction unit 31 and/or the second relay workpiece suction unit 41 forward or backward a fixed distance in a straight line along the horizontal direction.

When transferring a workpiece W from the first intermediate workpiece suction unit 31 at the first transfer position Q1 to the second intermediate workpiece suction unit 41 at the second transfer position Q2, the first and second intermediate workpiece suction units 31 and 41 are positioned in close proximity, and the distance between the suction surface of the first intermediate workpiece suction unit 31 and the suction surface of the second intermediate workpiece suction unit 41 is made relatively small. This close proximity is determined to enable the proper transfer of the workpiece W from the first intermediate workpiece suction unit 31 to the second intermediate workpiece suction unit 41. Specifically, the close proximity is determined such that the suction surface of the first intermediate workpiece suction unit 31 and the suction surface of the second intermediate workpiece suction unit 41 are brought close enough to each other that the back surface Wr of the workpiece W, whose surface Wf is being held by the first intermediate workpiece suction unit 31, is properly held (supported) by the second intermediate workpiece suction unit 41.

On the other hand, while the workpiece W is not being transferred from the first relay workpiece suction unit 31 to the second relay workpiece suction unit 41, the first and second relay workpiece suction units 31 and 41 are positioned at a distance from each other, and the distance between the suction surface of the first relay workpiece suction unit 31 and the suction surface of the second relay workpiece suction unit 41 is made relatively large. This distanced position is determined so as not to cause interference (collision) between the first and second relay workpiece suction units 31 and 41, or interference with the workpiece W supported by at least one of them.

Next, an example of a method for transporting the workpiece W (particularly a method for inverting the workpiece W) performed in the workpiece transport system 10 described above will be explained.

Figure 8 is a flowchart illustrating an example of a workpiece transport method (inversion method) focusing on a single workpiece support unit 21. Figure 9 is a flowchart illustrating an example of a workpiece transport method (inversion method) focusing on a single workpiece W. Figure 10 is a flowchart illustrating an example of a workpiece transport method (inversion method) focusing on the first inversion relay device 30. Figure 11 is a flowchart illustrating an example of a workpiece transport method (inversion method) focusing on the second inversion relay device 40.

The following example of a workpiece transport method for the workpiece W is executed by appropriately driving the workpiece transfer device 11 and the workpiece inversion device 12 under the control of the control device 13.

First, referring to Figure 8, we will focus on a specific workpiece support section 21 and explain an example of a workpiece transport method (inversion method).

The workpiece support unit 21 supports the workpiece W and moves along the workpiece transfer track Tw in accordance with the intermittent rotation of the workpiece transfer device 11, intermittently positioning itself at the workpiece handover position Pt (S11 in Figure 8). If it is determined that the workpiece W supported by the workpiece support unit 21 needs to be reversed (Y in S12), the workpiece W reversal process (reversal method) is performed (see S14-S18). On the other hand, if it is determined that the workpiece W does not need to be reversed (N in S12), the workpiece W reversal process (S14-S18) is skipped, and the workpiece support unit 21 intermittently moves together with the workpiece W from the workpiece handover position Pt to the workpiece receiving position Pr (S13), and then intermittently moves further downstream together with the workpiece W from the workpiece receiving position Pr (S19).

The determination of whether or not workpiece reversal is necessary is made by the control device 13 for each workpiece W and can be performed in any manner. This determination may be made before the workpiece W reaches the workpiece handover position Pt, or while the workpiece W is positioned at the workpiece handover position Pt.

In this embodiment, the orientation of the front surface Wf and back surface Wr of the workpiece W is detected by the workpiece front/back surface inspection device 14 (see Figure 1) upstream of the workpiece handover position Pt. Based on this detection result, the control device 13 determines whether or not the workpiece W needs to be inverted. The detection of the orientation of the front surface Wf and back surface Wr of the workpiece W can be performed in any manner; a sensor capable of directly detecting the orientation of the front surface Wf and/or back surface Wr of the workpiece W may be used, or the results of analysis of images obtained by imaging the front surface Wf and/or back surface Wr may be used. The inversion process is executed only if the detection result determines that the orientation of the workpiece W is not the desired orientation. If the orientation of the workpiece W is already determined to be the desired orientation, the inversion process is skipped.

In this example, if, at the time of detection by the workpiece front/back inspection device 14 and when the workpiece support unit 21 is positioned at the workpiece handover position Pt, the back surface Wr of the workpiece W is facing the suction surface of the workpiece support unit 21 and the front surface Wf is exposed facing downwards, it is determined that the orientation of the workpiece W is not the desired orientation, and the inversion process is executed. On the other hand, if, at the time of detection by the workpiece front/back inspection device 14 and when the workpiece support unit 21 is positioned at the workpiece handover position Pt, the front surface Wf of the workpiece W is facing the suction surface of the workpiece support unit 21 and the back surface Wr is exposed facing downwards, it is determined that the orientation of the workpiece W is the desired orientation, and the inversion process is skipped.

If it is determined that the workpiece W needs to be reversed (Y in S12), the workpiece support unit 21 at the workpiece transfer position Pt is positioned relative to the first relay workpiece suction unit 31 at the relay receiving position Qr, so that the workpiece W is transferred from the workpiece support unit 21 at the workpiece transfer position Pt to the first relay workpiece suction unit 31 at the relay receiving position Qr. That is, the workpiece support unit 21 supporting the workpiece W is lowered at the workpiece transfer position Pt, and the suction surface of the workpiece support unit 21 is positioned at a low support position together with the workpiece W (S14).

The suction force (vacuum suction force) of the workpiece support unit 21 is weakened during the descent of the workpiece support unit 21 or at the low support position, making it smaller than the downward (vertical) force acting on the workpiece W (including the suction force (vacuum suction force) of the first relay workpiece suction unit 31 and gravity). As a result, the workpiece W is transferred from the workpiece support unit 21 located at the workpiece handover position Pt to the first relay workpiece suction unit 31 located at the relay receiving position Qr. That is, the workpiece W transitions from a state where its back surface Wr is held by the workpiece support unit 21 to a state where its front surface Wf is held by the first relay workpiece suction unit 31.

After the workpiece W is transferred from the workpiece support unit 21 to the first relay workpiece suction unit 31 in this manner, the workpiece support unit 21 is raised, and the suction surface of the workpiece support unit 21 is raised from the low support position (S15).

The timing of the vertical movement of the workpiece support unit 21 at the workpiece transfer position Pt can be determined in any manner. For example, it may be determined according to the operating time of the workpiece support unit 21, or according to the transfer status of the workpiece W. For example, the workpiece support unit 21 may descend towards the low support position for a certain period of time, then wait at the low support position at the workpiece transfer position Pt for a certain period of time, and then rise for a certain period of time. Alternatively, the workpiece support unit 21 may remain waiting at the low support position until it is confirmed that the workpiece W has been transferred from the workpiece support unit 21 to the first relay workpiece suction unit 31. In this case, confirmation that the workpiece W has been transferred from the workpiece support unit 21 to the first relay workpiece suction unit 31 can be performed in any manner. For example, it may be performed based on the detection results of sensors that detect the air pressure (vacuum level) of the vacuum path of the workpiece support unit 21 and/or the air pressure (vacuum level) of the vacuum path of the first relay workpiece suction unit 31.

Furthermore, after the workpiece support unit 21 at the workpiece handover position Pt receives the workpiece W from the first relay workpiece suction unit 31, it is moved along the workpiece transfer track Tw and positioned at the workpiece receiving position Pr (S16). The raising of the workpiece support unit 21 (S15) and the movement of the workpiece support unit 21 to the workpiece receiving position Pr (S16) may be performed at least partially simultaneously, or they may be performed asynchronously. For example, the movement of the workpiece support unit 21 from the workpiece handover position Pt to the workpiece receiving position Pr may begin during the raising of the workpiece support unit 21 or after the raising of the workpiece support unit 21 is completed.

Then, the workpiece support unit 21 at the workpiece receiving position Pr is positioned relative to the second relay workpiece suction unit 41 at the relay transfer position Qt so that the workpiece W is transferred from the second relay workpiece suction unit 41 at the relay transfer position Qt to the workpiece support unit 21 at the workpiece receiving position Pr. That is, after moving the workpiece support unit 21 that is not supporting the workpiece W from the workpiece transfer position Pt, the workpiece support unit 21 is lowered, and its suction surface is positioned at a low support position at the workpiece receiving position Pr (S17).

The movement of the workpiece support unit 21 to the workpiece receiving position Pr (S16) and the lowering of the workpiece support unit 21 (S17) may be performed at least partially simultaneously, or they may be performed non-simultaneously. For example, the lowering of the workpiece support unit 21 may begin while the workpiece support unit 21 is moving from the workpiece handover position Pt to the workpiece receiving position Pr, or after the movement of the workpiece support unit 21 to the workpiece receiving position Pr is completed.

Then, after the workpiece support unit 21 begins moving from the workpiece handover position Pt towards the workpiece receiving position Pr (for example, during the descent of the workpiece support unit 21 or at the low support position), the suction force (vacuum suction force) of the workpiece support unit 21 is strengthened to be greater than the downward (vertical) force acting on the workpiece W (including the suction force (vacuum suction force) of the second relay workpiece suction unit 41 and gravity). As a result, the workpiece support unit 21 positioned at the workpiece receiving position Pr can receive the workpiece W from the second relay workpiece suction unit 41 positioned at the relay handover position Qt. That is, the workpiece W transitions from a state where its back surface Wr is held by the second relay workpiece suction unit 41 to a state where its front surface Wf is held by the workpiece support unit 21.

After the workpiece W is transferred from the second relay workpiece suction unit 41 to the workpiece support unit 21, the workpiece support unit 21 rises together with the workpiece W. The timing of the vertical movement of the workpiece support unit 21 at the workpiece receiving position Pr can be determined in any way; for example, it may be determined according to the operation time of the workpiece support unit 21, or according to the transfer status of the workpiece W. For example, the workpiece support unit 21 may descend toward the low support position for a certain period of time, then wait at the low support position at the workpiece receiving position Pr for a certain period of time, and then rise toward the high support position for a certain period of time. Alternatively, the workpiece support unit 21 may remain waiting at the low support position at the workpiece receiving position Pr until it can be confirmed that the workpiece W has been transferred from the second relay workpiece suction unit 41 to the workpiece support unit 21. In this case, confirmation that the workpiece W has been transferred from the second relay workpiece suction unit 41 to the workpiece support unit 21 can be performed in any manner. For example, it may be done based on the detection results of sensors that detect the air pressure (vacuum level) in the vacuum path of the workpiece support unit 21 and/or the air pressure (vacuum level) in the vacuum path of the second relay workpiece suction unit 41.

The workpiece support section 21 then supports the workpiece W (especially the surface Wf) and moves further downstream from the workpiece receiving position Pr along the workpiece transfer track Tw in accordance with the intermittent rotation of the workpiece transfer device 11 (S19).

Each workpiece support unit 21 can intermittently move downstream along the workpiece transfer track Tw, together with the workpiece W which has been inverted as needed, by performing the series of processes described above (S11 to S19).

Next, referring to Figure 9, we will focus on a specific workpiece W and explain an example of the workpiece W transport method (inversion method) described above.

The workpiece W is supported by the workpiece support unit 21 and transported along the workpiece transport track Tw in accordance with the intermittent rotation of the workpiece transport device 11, and intermittently positioned at the workpiece handover position Pt (S21 in Figure 9). If it is determined that inversion of the workpiece W supported by the workpiece support unit 21 is necessary (Y in S22), the workpiece W inversion process (inversion method) is performed (see S24-S28).

On the other hand, if it is determined that reversing the workpiece W is unnecessary (N in S22), the workpiece W reversal process (S24-S28) is skipped, and the workpiece W, together with the workpiece support unit 21, is intermittently transported from the workpiece handover position Pt to the workpiece receiving position Pr (S23), and then intermittently transported further downstream from the workpiece receiving position Pr (S29).

If it is determined that the workpiece W needs to be reversed (Y in S22), the workpiece W descends in accordance with the downward movement of the workpiece support unit 21 at the workpiece handover position Pt, and is handed over from the workpiece support unit 21 to the first relay workpiece suction unit 31 located at the relay receiving position Qr (S24).

The transfer of the workpiece W from the workpiece support unit 21 to the first relay workpiece suction unit 31 can be performed in any manner. For example, at the workpiece transfer position Pt, the workpiece W descends together with the workpiece support unit 21. When the workpiece W reaches the area within the suction force range of the opposing first relay workpiece suction unit 31, the descent of both the workpiece support unit 21 and the workpiece W stops. Then, while the workpiece support unit 21 and the workpiece W are waiting at that height, the suction of the workpiece support unit 21 is broken (vacuum broken), allowing the workpiece W to be transferred from the workpiece support unit 21 to the first relay workpiece suction unit 31.

The workpiece W is then supported by the first relay workpiece suction unit 31, and the first relay workpiece suction unit 31 is intermittently rotated by the first relay rotation unit 32 by 90 degrees at a time, for a total of 180 degrees, thereby transferring the workpiece from the relay receiving position Qr to the first transfer position Q1 (S25).

Then, by moving one of the first relay workpiece suction unit 31 located at the first transfer position Q1 and the second relay workpiece suction unit 41 located at the second transfer position Q2 relatively closer to the other, the workpiece W is transferred from the first relay workpiece suction unit 31 to the second relay workpiece suction unit 41 (S26). The transfer (transfer) of the workpiece W from the first relay workpiece suction unit 31 to the second relay workpiece suction unit 41 can be performed in any manner. For example, one of the first relay workpiece suction unit 31 or the second relay workpiece suction unit 41 can move forward until the workpiece W reaches the suction force range of the second relay workpiece suction unit 41. This stops the forward movement of the first relay workpiece suction unit, causing the suction of the first relay workpiece suction unit 31 to break (vacuum break), thereby transferring the workpiece W from the first relay workpiece suction unit 31 to the second relay workpiece suction unit 41.

The workpiece W is then supported by the second relay workpiece suction unit 41, and the second relay workpiece suction unit 41 is intermittently rotated by the second relay rotation unit 42 by 90 degrees at a time, for a total of 180 degrees, thereby transferring the workpiece from the second transfer position Q2 to the relay handover position Qt (S27).

Then, the suction surface of the work support unit 21 located at the work receiving position Pr is positioned at a low support position, and the suction surface of the work support unit 21 located at the work receiving position Pr and the suction surface of the second relay work suction unit 41 located at the relay handover position Qt are brought closer together, thereby transferring the workpiece W from the second relay work suction unit 41 to the work support unit 21 (S28). The transfer of the workpiece W from the second relay work suction unit 41 to the work support unit 21 can be performed in any manner. For example, the work support unit 21 can be lowered, and when the workpiece W reaches the range of action of the work support unit 21, the lowering of the work support unit 21 stops, and the suction of the second relay work suction unit 41 is broken (vacuum broken), thereby transferring the workpiece W from the second relay work suction unit 41 to the work support unit 21.

The workpiece W is then supported by the workpiece support section 21 and transported further downstream from the workpiece receiving position Pr along the workpiece transport track Tw in accordance with the intermittent rotation of the workpiece transport device 11 (S29).

Each workpiece W undergoes the series of processes described above (S11 to S19), is inverted as needed, and intermittently transported downstream along the workpiece transport track Tw together with the workpiece support unit 21.

Next, referring to Figure 10, and focusing on the first reversal relay device 30, an example of the workpiece W transport method (reversal method) described above will be explained.

In the workpiece transport method (reversal method) described above, prior to the suction surface of the workpiece support unit 21, which is positioned at the workpiece handover position Pt and supports the workpiece W, descending to the low support position in order to reverse the workpiece W, step S31 in Figure 10 is performed. That is, the first relay rotating unit 32 is rotated intermittently, so that the first relay workpiece suction unit 31 that does not support the workpiece W is positioned at the relay receiving position Qr, and the first relay workpiece suction unit 31 that supports the workpiece W is positioned at the first transfer position Q1 (S31).

Subsequently, the first relay workpiece suction unit 31, positioned at the relay receiving position Qr, receives the workpiece W from the workpiece support unit 21, and the first relay workpiece suction unit 31, positioned at the first transfer position Q1, hands over the workpiece W to the second relay workpiece suction unit 41 (S32).

Then, if it is detected that the first relay workpiece suction unit 31 located at the relay receiving position Qr is supporting the workpiece W, and the first relay workpiece suction unit 31 located at the first transfer position Q1 is not supporting the workpiece W (Y in S33), then steps S31 and S32 described above are repeated.

In the example shown in Figure 10, no further processing is performed unless it is detected that the first relay workpiece suction unit 31 located at the relay receiving position Qr is supporting the workpiece W, and the first relay workpiece suction unit 31 located at the first transfer position Q1 is not supporting the workpiece W (see N in S33). However, the workpiece transport system 10 may, under the control of the control device 13, appropriately perform other processing, such as error notification processing to notify the user (operator) of the error.

Next, referring to Figure 11, and focusing on the second reversal relay device 40, an example of the workpiece W transport method (reversal method) described above will be explained.

In the above-described method for transporting (reversing) the workpiece W, before the suction surface of the workpiece support unit 21, which is positioned at the workpiece receiving position Pr and does not support the workpiece W, descends to the low support position in order to reverse the workpiece W, step S41 shown in Figure 11 is performed. That is, the second relay rotating unit 42 is rotated intermittently, so that the second relay workpiece suction unit 41 supporting the workpiece W is positioned at the relay handover position Qt, and the second relay workpiece suction unit 41 not supporting the workpiece W is positioned at the second transfer position Q2 (S41).

Subsequently, the second relay workpiece suction unit 41, positioned at the relay handover position Qt, hands over the workpiece W to the workpiece support unit 21, and the second relay workpiece suction unit 41, positioned at the second transfer position Q2, receives the workpiece from the first relay workpiece suction unit 31 (S42).

If it is detected that the second relay workpiece suction unit 41 positioned at the relay handover position Qt is not supporting the workpiece W, and that the second relay workpiece suction unit 41 positioned at the second transfer position Q2 is supporting the workpiece W (Y in S43), then steps S41 and S42 described above are repeated.

In the example shown in Figure 11, no further processing is performed unless it is detected that the second relay workpiece suction unit 41 located at the relay handover position Qt is not supporting the workpiece W, and that the second relay workpiece suction unit 41 located at the second transfer position Q2 is supporting the workpiece W (see N in S43). However, the workpiece transport system 10 may perform other processing, such as error notification processing, under the control of the control device 13.

As described above, according to this embodiment, the workpiece reversal device 12, including the first reversal relay device 30 and the second reversal relay device 40, can reverse the front and back sides of the workpiece W at high speed while minimizing damage to the workpiece W.

In particular, each workpiece support unit 21 receives a different workpiece W at the workpiece receiving position Pr than the workpiece W released at the workpiece handover position Pt. Therefore, after releasing the workpiece W at the workpiece handover position Pt, each workpiece support unit 21 does not need to wait until the inversion of the released workpiece W is complete.

Furthermore, the position where each work support unit 21 releases the workpiece W (workpiece handover position Pt) and the position where each work support unit 21 receives the workpiece W (workpiece receiving position Pr) are not the same. Therefore, each work support unit 21 is not required to remain in the same intermittent stop position from the time it releases the workpiece W that requires reversal until it receives the workpiece W in the appropriate reversal state. Consequently, at a single intermittent stop position, each work support unit 21 only needs to perform one of either the movement to release the workpiece W (up and down movement) or the movement to receive the workpiece W (up and down movement), effectively preventing excessive intermittent stop time.

Then, two of the multiple intermittent stopping positions set along the workpiece transfer track Tw are assigned as follows: "an intermittent stopping position for transferring the workpiece W, which requires reversal, from the workpiece support unit 21 (workpiece transfer device 11) to the first relay workpiece suction unit 31 (workpiece reversal device 12)" and "an intermittent stopping position for the workpiece support unit 21 (workpiece transfer device 11) to receive the workpiece W in an appropriate reversal state from the second relay workpiece suction unit 41 (workpiece reversal device 12)." This allows the workpiece W reversal processing process to be incorporated into the movement process of all workpiece support units 21 along the workpiece transfer track Tw, thus avoiding the workpiece W reversal processing becoming a bottleneck for the overall processing of the workpiece transport system 10. As a result, delays in the overall processing speed of the workpiece transport system 10 are suppressed, and further high-speed processing can be promoted.

Furthermore, the first reversal relay device 30 and the second reversal relay device 40 are arranged symmetrically with respect to a virtual plane Vs (Figure 4) that passes through the center position P0 between the workpiece transfer position Pt and the workpiece receiving position Pr. This allows the relative angle between the workpiece support unit 21 (especially the suction surface) and the workpiece W when the workpiece W is released from the workpiece support unit 21 at the workpiece transfer position Pt, and the relative angle between the workpiece support unit 21 (especially the suction surface) and the workpiece W when the workpiece support unit 21 receives the workpiece W at the workpiece receiving position Pr, to be matched.

In other words, when each first relay workpiece suction unit 31 moves from the workpiece handover position Pt to the workpiece receiving position Pr, it moves along an arc trajectory (workpiece transfer trajectory Tw) centered on the central axis (transport rotation axis Ax0) of the workpiece support movement unit 22. Therefore, the orientation (posture) of each first relay workpiece suction unit 31 gradually changes along this arc trajectory, and the orientation of the first relay workpiece suction unit 31 at the workpiece handover position Pt differs from the orientation of the first relay workpiece suction unit 31 at the workpiece receiving position Pr.

Even in such cases, the workpiece reversal device 12 of this embodiment, after receiving a workpiece W at the relay receiving position Qr that has an orientation (posture) corresponding to the orientation of the first relay workpiece suction unit 31 at the workpiece transfer position Pt, gradually changes the orientation of the workpiece W during the transfer to the relay transfer position Qt via the circular relay movement trajectories Tq1 and Tq2. As a result, the workpiece W can be positioned at the relay transfer position Qt with an orientation corresponding to the orientation of the first relay workpiece suction unit 31 at the workpiece receiving position Pr. That is, the angle of the workpiece W with respect to the transport rotation axis Ax0 (i.e., the angle with respect to the axial direction) coincides between the workpiece transfer position Pt and the workpiece receiving position Pr. As a result, the front and back sides of the workpiece W can be reversed between the workpiece transfer position Pt and the workpiece receiving position Pr while maintaining the relative angle between the workpiece support unit 21 (especially the suction surface) and the workpiece W.

[First variation]
In the above-described embodiment, the first reversing relay device 30 has four first relay workpiece suction units 31, but the number of first relay workpiece suction units 31 is not limited. For example, the area of the first relay rotating unit 32 may be virtually divided equally by two or more even numbers, and two or more first relay workpiece suction units 31 may be provided in each of these two or more virtual divided areas. Similarly, the number of second relay workpiece suction units 41 is not limited to four, and for example, two or more second relay workpiece suction units 41 may be provided in each of two or more virtual divided areas of the second relay rotating unit 42.

Furthermore, the number of first relay workpiece suction units 31 in the first reversing relay device 30 and the number of second relay workpiece suction units 41 in the second reversing relay device 40 may be the same as in the embodiment described above, or they may not be the same.

Below, as an example, a workpiece transfer system 10 (first modified example) is described, in which the first reversing relay device 30 has two first relay workpiece suction units 31, and the second reversing relay device 40 has two second relay workpiece suction units 41.

Figure 12 is a plan view showing an enlarged view of a first modified example of the workpiece transfer system 10. Figure 13 is a side view showing an enlarged view of a part of the workpiece transfer system 10 shown in Figure 12. Figure 14 is a perspective view of the workpiece reversing device 12 shown in Figures 12 and 13.

In this modified example, elements identical to or corresponding to those in the above-described embodiment are denoted by the same reference numerals, and their detailed descriptions are omitted.

In this modified example, there are two first intermediate workpiece suction sections 31, and the orientation of the suction surface of one of the two first intermediate workpiece suction sections 31 is at a 90-degree angle to the orientation of the other suction surface. Similarly, there are two second intermediate workpiece suction sections 41, and the orientation of the suction surface of one of the two second intermediate workpiece suction sections 41 is at a 90-degree angle to the orientation of the other suction surface.

In the above-described embodiment, the relay rotating units 32 and 42 shown in Figures 4 to 6 intermittently move the four relay workpiece suction units 31 and 41 by 90 degrees each, whereas in this modified example, the relay rotating units 32 and 42 shown in Figures 12 to 14 intermittently move the two relay workpiece suction units 31 and 41 by 180 degrees each around the relay rotation axes Ax1 and Ax2.

Furthermore, in the above-described embodiment, the relay rotating sections 32 and 42 move the relay workpiece suction sections 31 and 41 in only one rotational direction (one circumferential direction). In contrast, the relay rotating sections 32 and 42 in this modified example are rotated alternately (i.e., half-rotations) in the forward and reverse circumferential directions. That is, the first relay rotating section 32 is rotated 180 degrees forward around the first relay rotation axis Ax1, and then rotated 180 degrees backward. Similarly, the second relay rotating section 42 is rotated 180 degrees forward around the second relay rotation axis Ax2, and then rotated 180 degrees backward.

In the first reversal relay device 30 having the above configuration, the two first relay workpiece suction units 31 are simultaneously and intermittently positioned at the relay receiving position Qr and the first transfer position Q1, respectively. The intermittent rotation of the first relay rotation unit 32 causes the positions of the two first relay workpiece suction units 31 to swap places with each other.

Similarly, the two second relay workpiece suction units 41 of the second reversing relay device 40 are simultaneously and intermittently positioned at the relay handover position Qt and the second transfer position Q2, respectively, and the positions of the two second relay workpiece suction units 41 are swapped by the intermittent rotation of the second relay rotating unit 42.

In this modified example, as in the embodiment described above, the orientation of the front surface Wf and back surface Wr of the workpiece W transported by the workpiece transfer device 11 can be selectively reversed by the workpiece reversal device 12 as needed. In particular, by configuring the intermediate rotating units 32 and 42 to repeatedly rotate the intermediate workpiece suction units 31 and 41 by reciprocating them in the forward and reverse circumferential directions, the configuration of the pneumatic path (vacuum path) for providing suction force (attraction force) to the intermediate workpiece suction units 31 and 41 becomes simpler and more stable. This allows for simplification, miniaturization, and/or cost reduction of the device configuration compared to the case where the intermediate workpiece suction units 31 and 41 are rotated in only one circumferential direction.

It should be noted that the embodiments and modifications disclosed herein are illustrative in all respects and should not be construed restrictively. The embodiments and modifications described above may be omitted, substituted, and modified in various ways without departing from the scope and spirit of the appended claims. For example, the embodiments and modifications described above may be combined in whole or in part, and other embodiments may be combined with the embodiments or modifications described above. Furthermore, the effects described herein are illustrative, and other effects may result.

The technical categories that embody the above-described technical concept are not limited. For example, the above-described technical concept may be embodied by a computer program that causes a computer to execute one or more steps included in a method for manufacturing or using the above-described device. Alternatively, the above-described technical concept may be embodied by a computer-readable, non-transitory recording medium on which such a computer program is recorded.

10 Work transport system, 11 Work transport device, 12 Work inversion device, 13 Control device, 14 Work front/back inspection device, 15 Supply unit, 16 Storage unit, 17 Supply path, 18 Transport drive mechanism, 21 Work support unit, 22 Work support movement unit, 22a Center of work support movement unit, 30 First inversion relay device, 31 First relay work suction unit, 32 First relay rotation unit, 40 Second inversion relay device, 41 Second relay work suction unit, 42 Second relay rotation unit, 60 Work transport drive unit, 61 Work support drive unit, 62 Transport suction drive unit, 71 First relay rotation drive unit, 72 Second relay rotation drive unit, 73 First relay suction drive unit, 74 Second relay suction drive unit, 75 Relay transfer drive unit, Ax0 Transport rotation axis, Ax1 First relay rotation axis, Ax2 Second relay rotation axis, P0 Center position, Pt Work handover position, Pr Workpiece receiving position, Q1; First transfer position, Q2; Second transfer position, Qr; Relay receiving position, Qt; Relay handover position, Tq1; First relay movement trajectory, Tq2; Second relay movement trajectory, Tw; Workpiece transfer trajectory, U1; Processing unit, U2; Processing unit, U3; Processing unit, U4; Processing unit, Vs; Virtual plane, W; Workpiece, Wf; Front surface, Wr; Back surface

Claims (6)

A workpiece reversing device comprising a first reversing relay device and a second reversing relay device,
The first inverting relay device is
The first relay rotating section,
A plurality of first relay workpiece suction units are supported by the first relay rotating unit and rotate together with the first relay rotating unit about a first relay rotating axis, and each of the plurality of first relay workpiece suction units is capable of suctioning a workpiece.
The second inverting relay device is
The second relay rotation section,
A plurality of second relay workpiece suction units are supported by the second relay rotating unit and rotate together with the second relay rotating unit about the second relay rotating axis, and each of the plurality of second relay workpiece suction units is capable of suctioning the workpiece,
The first relay workpiece suction unit moves along a first relay movement trajectory that includes a relay receiving position and a first transfer position.
The second relay workpiece suction unit moves along the second relay movement trajectory, which includes the relay handover position and the second transfer position.
The first relay workpiece suction unit at the first transfer position is positioned to face the second relay workpiece suction unit at the second transfer position, and the workpiece is transferred from the first relay workpiece suction unit at the first transfer position to the second relay workpiece suction unit at the second transfer position so as to transition from a state in which the surface of the workpiece is held by the first relay workpiece suction unit to a state in which the back surface of the workpiece is held by the second relay workpiece suction unit .
The number of the aforementioned multiple first relay workpiece suction units is two, and the orientation of one of the two first relay workpiece suction units forms a 90-degree angle with respect to the orientation of the other, and the two first relay workpiece suction units are repeatedly rotated half a turn by reciprocating in the forward and reverse circumferential directions.
Workpiece reversing device. A workpiece reversing device comprising a first reversing relay device and a second reversing relay device,
The first inverting relay device is
The first relay rotating section,
A plurality of first relay workpiece suction units are supported by the first relay rotating unit and rotate together with the first relay rotating unit about a first relay rotating axis, and each of the plurality of first relay workpiece suction units is capable of suctioning a workpiece.
The second inverting relay device is
The second relay rotation section,
A plurality of second relay workpiece suction units are supported by the second relay rotating unit and rotate together with the second relay rotating unit around the second relay rotating axis, and each of the plurality of second relay workpiece suction units is capable of suctioning the workpiece,
The first relay workpiece suction unit moves along a first relay movement trajectory that includes a relay receiving position and a first transfer position.
The second relay workpiece suction unit moves along the second relay movement trajectory, which includes the relay handover position and the second transfer position.
The first relay workpiece suction unit at the first transfer position is positioned to face the second relay workpiece suction unit at the second transfer position, and the workpiece is transferred from the first relay workpiece suction unit at the first transfer position to the second relay workpiece suction unit at the second transfer position so as to transition from a state in which the surface of the workpiece is held by the first relay workpiece suction unit to a state in which the back surface of the workpiece is held by the second relay workpiece suction unit.
The number of the aforementioned second relay workpiece suction units is two, and the orientation of one of the two second relay workpiece suction units forms a 90-degree angle with respect to the orientation of the other, and the two second relay workpiece suction units are repeatedly rotated half a turn by reciprocating in the forward and reverse circumferential directions.
Workpiece reversing device. The orientation of the first relay workpiece suction unit at the first transfer position is at an angle of 90 degrees with respect to the orientation of the first relay workpiece suction unit at the relay receiving position.
The orientation of the second relay workpiece suction unit at the second transfer position is at an angle of 90 degrees with respect to the orientation of the second relay workpiece suction unit at the relay handover position.
The first relay rotation axis is at an angle of 45 degrees with respect to the orientation of the first relay workpiece suction part at the relay receiving position and the orientation of the first relay workpiece suction part at the first transfer position.
The second relay rotation axis is at an angle of 45 degrees with respect to the orientation of the second relay workpiece suction part at the relay handover position and the orientation of the second relay workpiece suction part at the second transfer position.
A workpiece reversing device according to claim 1 or 2 . A workpiece reversing device according to claim 1 or 2 ,
The workpiece transfer device comprises a workpiece support section capable of supporting the workpiece, and a workpiece support moving section that moves the workpiece support section along a workpiece transfer track,
The workpiece transfer track has a curved shape in at least part of it and includes a workpiece handover position and a workpiece receiving position.
The aforementioned work support section is
At the workpiece handover position, the workpiece is handed over to the first relay workpiece suction unit located at the relay receiving position.
At the workpiece receiving position, the workpiece is received from the second relay workpiece suction unit located at the relay handover position.
Workpiece transport system. The workpiece transfer device moves the workpiece support section from the workpiece handover position along an arc-shaped trajectory to the workpiece receiving position.
The first relay movement track and the second relay movement track are symmetrical with respect to a virtual plane that passes through the center position between the workpiece handover position and the workpiece receiving position in the workpiece transfer track and includes the diameter of the arc.
The workpiece transport system according to claim 4 . The system includes a control device for controlling the workpiece reversal device and the workpiece transfer device,
The control device is
The work support portion is lowered so that the workpiece is transferred from the work support portion at the workpiece transfer position to the first relay workpiece suction portion at the relay receiving position, by positioning the work support portion at the workpiece transfer position relative to the first relay workpiece suction portion at the relay receiving position.
After transferring the workpiece to the first relay workpiece suction unit, the workpiece support unit is raised.
After the workpiece is transferred to the first relay workpiece suction unit, the workpiece support unit at the workpiece transfer position is moved to the workpiece receiving position.
After moving the work support unit from the work transfer position, the work support unit is lowered so that the work is transferred from the second relay work suction unit at the relay transfer position to the work support unit at the work receiving position, by positioning the work support unit at the work receiving position relative to the second relay work support unit at the relay transfer position.
After the workpiece is transferred from the second relay workpiece suction unit to the workpiece support unit, the workpiece support unit is raised.
The workpiece transport system according to claim 4 .